Experimental study on haptic communication of a human in a shared human-robot collaborative task
We aim at addressing in this paper the issue of non-verbal communication involved in a human-robot interaction. We first propose a taxonomy of assistance that an operator may expect from a partner during a long object manipulation task. Then, this paper presents a method to detect which kind of robo...
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| creator | Dumora, J. Geffard, F. Bidard, C. Brouillet, T. Fraisse, P. |
| description | We aim at addressing in this paper the issue of non-verbal communication involved in a human-robot interaction. We first propose a taxonomy of assistance that an operator may expect from a partner during a long object manipulation task. Then, this paper presents a method to detect which kind of robot assistance is needed, thanks to the decoding of haptic cues conveyed by the operator. An experimental study on thirty subjects moving a long object together with a robot that is providing an assistance is introduced. A statistical analysis highlights the relationships between haptic measures and intentions of motion. This analysis shows that wrench measurements constitute an incomplete information to detect the operator's intention of motion. |
| doi_str_mv | 10.1109/IROS.2012.6385721 |
| format | Conference Proceeding |
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| identifier | ISSN: 2153-0858 |
| ispartof | 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, p.5137-5144 |
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| language | eng |
| recordid | cdi_ieee_primary_6385721 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Biomechanics Current measurement Displacement measurement Engineering Sciences Force Humans Mechanics Physics Robot kinematics Torque |
| title | Experimental study on haptic communication of a human in a shared human-robot collaborative task |
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